saberbud/qG3Point
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

TMP

Browse Source
This commit is contained in:
Paul Leroy
2024-02-19 13:39:50 +01:00
parent b4e64a1f28
commit bcafbe844f
2 changed files with 16 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
CMakeLists.txt
+6 -15
View File
@@ -15,7 +15,7 @@ if ( PLUGIN_G3POINT )
add_subdirectory( src )
add_subdirectory( ui )
target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17) # for mlpack
# target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17) # for mlpack
target_include_directories( ${PROJECT_NAME} PRIVATE
C:/opt/eigen-3.4.0
@@ -24,19 +24,10 @@ if ( PLUGIN_G3POINT )
)
# Find installed Open3D, which exports Open3D::Open3D
find_package(Open3D REQUIRED)
target_link_libraries( ${PROJECT_NAME} Open3D::Open3D)
# On Windows if BUILD_SHARED_LIBS is enabled, copy .dll files to the executable directory
# if(WIN32)
# get_target_property(open3d_type Open3D::Open3D TYPE)
# if(open3d_type STREQUAL "SHARED_LIBRARY")
# message(STATUS "Copying Open3D.dll to ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>")
# add_custom_command(TARGET Draw POST_BUILD
# COMMAND ${CMAKE_COMMAND} -E copy
# ${CMAKE_INSTALL_PREFIX}/bin/Open3D.dll
# ${CMAKE_CURRENT_BINARY_DIR}/$<CONFIG>)
# endif()
# endif()
find_package( Open3D REQUIRED )
target_link_libraries( ${PROJECT_NAME} Open3D::Open3D )
message( "Open3D_DIR ${Open3D_DIR}" )
set( OPENCV_DEP_DLL_FILES ${Open3D_DIR}/../bin/Open3D.dll )
copy_files( "${OPENCV_DEP_DLL_FILES}" "${CLOUDCOMPARE_DEST_FOLDER}" ) #mind the quotes!
endif()
src/ActionA.cpp
+10 -5
View File
@@ -411,7 +411,7 @@ int G3PointAction::cluster_labels()
// If labels are neighbours, set Nneigh to 1
Eigen::ArrayXXi Nneigh = Eigen::ArrayXXi::Zero(nlabels, nlabels);
k = 0;
for (auto &stack : m_stacks)
for (auto& stack : m_stacks)
{
Eigen::ArrayXXi labels(stack.size(), m_kNN);
for (int index = 0; index < stack.size(); index++)
@@ -883,7 +883,7 @@ bool G3PointAction::compute_normals_and_orient_them_open3d()
// compute the normals
pcd.EstimateNormals(open3d::geometry::KDTreeSearchParamKNN(m_kNN));
std::cout << "normals << std::endl";
std::cout << "normals" << std::endl;
for (int i = 0; i < 10; i++)
{
std::cout << pcd.normals_[i].x() << " " << pcd.normals_[i].y() << " " << pcd.normals_[i].z() << std::endl;
@@ -892,8 +892,13 @@ bool G3PointAction::compute_normals_and_orient_them_open3d()
// we 'compress' each normal
int pointCount = m_cloud->size();
NormsIndexesTableType theNormsCodes = NormsIndexesTableType();
if (!theNormsCodes.resizeSafe(pointCount))
{
ccLog::Error("[G3PointAction::compute_normals_and_orient_them_open3d] failed to allocate theNormCodes");
return false;
}
std::fill(theNormsCodes.begin(), theNormsCodes.end(), 0);
for (unsigned index = 0; index < pointCount; index++)
for (int index = 0; index < pointCount; index++)
{
CCVector3 N(pcd.normals_[index].x(), pcd.normals_[index].y(), pcd.normals_[index].z());
CompressedNormType nCode = ccNormalVectors::GetNormIndex(N);
@@ -904,7 +909,7 @@ bool G3PointAction::compute_normals_and_orient_them_open3d()
ccNormalVectors::Orientation preferredOrientation = ccNormalVectors::PLUS_Z;
ccNormalVectors::UpdateNormalOrientations(m_cloud, theNormsCodes, preferredOrientation);
ccLog::Error("[G3PointAction::compute_normals_and_orient_them_open3d] set the normals computed with Open3D to the point cloud");
ccLog::Print("[G3PointAction::compute_normals_and_orient_them_open3d] set the normals computed with Open3D to the point cloud");
m_cloud->resizeTheNormsTable();
//we hide normals during process
@@ -1008,7 +1013,7 @@ void G3PointAction::run()
// int nLabels = segment_labels_steepest_slope();
cluster_labels();
// cluster_labels();
m_app->dispToConsole( "[G3Point] initial segmentation: " + QString::number(nLabels) + " labels", ccMainAppInterface::STD_CONSOLE_MESSAGE );